ppf_helpers.hpp 文件参考

#include <opencv2/core.hpp>

ppf_helpers.hpp 的包含依赖图

命名空间
命名空间	cv
命名空间	cv::ppf_match_3d

函数
Mat	cv::ppf_match_3d::addNoisePC (Mat pc, double scale)
void	cv::ppf_match_3d::computeBboxStd (Mat pc, Vec2f &xRange, Vec2f &yRange, Vec2f &zRange)
int	cv::ppf_match_3d::computeNormalsPC3d (const Mat &PC, Mat &PCNormals, const int NumNeighbors, const bool FlipViewpoint, const Vec3f &viewpoint)
	计算任意点云的法线 computeNormalsPC3d 使用平面拟合方法平滑地计算局部法线。法线通过协方差矩阵的特征向量获得，对应于最小特征值。如果 PCNormals 被提供为 Nx6 矩阵，则不会进行新的分配，而是覆盖现有内存。
void	cv::ppf_match_3d::destroyFlann (void *flannIndex)
void	cv::ppf_match_3d::getRandomPose (Matx44d &Pose)
void *	cv::ppf_match_3d::indexPCFlann (Mat pc)
Mat	cv::ppf_match_3d::loadPLYSimple (const char *fileName, int withNormals=0)
	加载 PLY 文件。
Mat	cv::ppf_match_3d::normalizePCCoeff (Mat pc, float scale, float *Cx, float *Cy, float *Cz, float *MinVal, float *MaxVal)
void	cv::ppf_match_3d::queryPCFlann (void *flannIndex, Mat &pc, Mat &indices, Mat &distances)
void	cv::ppf_match_3d::queryPCFlann (void *flannIndex, Mat &pc, Mat &indices, Mat &distances, const int numNeighbors)
Mat	cv::ppf_match_3d::samplePCByQuantization (Mat pc, Vec2f &xrange, Vec2f &yrange, Vec2f &zrange, float sample_step_relative, int weightByCenter=0)
Mat	cv::ppf_match_3d::samplePCUniform (Mat PC, int sampleStep)
Mat	cv::ppf_match_3d::samplePCUniformInd (Mat PC, int sampleStep, std::vector< int > &indices)
Mat	cv::ppf_match_3d::transformPCPose (Mat pc, const Matx44d &Pose)
Mat	cv::ppf_match_3d::transPCCoeff (Mat pc, float scale, float Cx, float Cy, float Cz, float MinVal, float MaxVal)
void	cv::ppf_match_3d::writePLY (Mat PC, const char *fileName)
	将点云写入 PLY 文件。
void	cv::ppf_match_3d::writePLYVisibleNormals (Mat PC, const char *fileName)
	用于调试目的，将点云写入PLY文件，法向量尖端显示为可见的红色点。

详细描述

作者

Tolga Birdal <tbirdal AT gmail.com>